Fenglin Zhou

In this paper, the dual reciprocity boundary element method combined with the Runge- Kutta method is applied to solve the acoustic radiation problem. In the dual reciprocity scheme, the radial basis function is introduced to transform the equivalent integral equation into an equivalent integral equation of a pure boundary form. After the boundary elements discretization, the second-ordered ordinary differential equations (ODEs) are obtained. Furthermore, these ODEs are transformed into first-order ODEs (Euler equations) by introducing a median variable. The Runge-Kutta method of the fourth order is applied to solve these Euler equations. Two numerical examples of acoustic problems on different structures are presented to illustrate the validity and the accuracy of the proposed method.

Intelligent manufacturing requires robots to adapt to increasingly complex tasks, and dual-arm cooperative operation can provide a more flexible and effective solution. Motion planning serves as a crucial foundation for dual-arm cooperative operation. The rapidly exploring random tree (RRT) algorithm based on random sampling has been widely used in high-dimensional manipulator path planning due to its probability completeness, handling of high-dimensional problems, scalability, and faster exploration speed compared with other planning methods. As a variant of RRT, the RRT*Smart algorithm introduces asymptotic optimality, improved sampling techniques, and better path optimization. However, existing research does not adequately address the cooperative motion planning requirements for dual manipulator arms in terms of sampling methods, path optimization, and dynamic adaptability. It also cannot handle dual-manipulator collaborative motion planning in dynamic scenarios. Therefore, in this paper, a novel motion planner named RRT*Smart-AD is proposed to ensure that the dual-arm robot satisfies obstacle avoidance constraints and dynamic characteristics in dynamic environments. This planner is capable of generating smooth motion trajectories that comply with differential constraints and physical collision constraints for a dual-arm robot. The proposed method includes several key components. First, a dynamic A* cost function sampling method, combined with an intelligent beacon sampling method, is introduced for sampling. A path-pruning strategy is employed to improve the computational efficiency. Strategies for dynamic region path repair and regrowth are also proposed to enhance adaptability in dynamic scenarios. Additionally, practical constraints such as maximum velocity, maximum acceleration, and collision constraints in robotic arm applications are analyzed. Particle swarm optimization (PSO) is utilized to optimize the motion trajectories by optimizing the parameters of quintic non-uniform rational B-splines (NURBSs). Static and dynamic simulation experiments verified that the RRT*Smart-AD algorithm for cooperative dynamic path planning of dual robotic arms outperformed biased RRT* and RRT*Smart. This method not only holds significant practical engineering significance for obstacle avoidance in dual-arm manipulators in intelligent factories but also provides a theoretical reference value for the path planning of other types of robots.

This paper focuses on tackling the two drawbacks of the dual boundary element method (DBEM) when solving crack problems with a discontinuous triangular element: low accuracy of the calculation of integrals with singularity and crack front element must be utilized to model the square-root property of displacement. In order to calculate the integrals with higher order singularity, the triangular elements are segmented into several subregions which consist of subtriangles and subpolygons. The singular integrals in those subtriangles are handled by the singularity subtraction technique in the integration space and can be regularized and accurately calculated. For the nearly singular integrals in those subpolygons, the element subdivision technique is employed to improve the calculation accuracy. In addition, considering the location of the crack front in the element, special crack front elements are constructed based on a 6-node discontinuous triangular element, in which the displacement extrapolation method is introduced to obtain the stress intensity factors (SIFs) without consideration of orthogonalization of the crack front mesh. Several numerical results are investigated to fully verify the validation of the presented approach.